An acc radar regulation method and system

Abstract

The application provides an ACC radar adjusting method and system, and the method comprises the following steps: detecting the pitch angle of the vehicle, the vehicle speed, the energy consumption and the steering wheel angle; judging whether the vehicle is located on a slope road section according to the pitch angle of the vehicle, the vehicle speed and the energy consumption; if the vehicle is located on the slope road section, adjusting the pitch angle of the ACC radar according to the pitch angle of the vehicle until a preceding vehicle is detected or the road surface is detected to be located in a range below the middle line of the vertical field angle of the ACC radar; and adjusting the azimuth angle of the ACC radar according to the high-precision map information and the steering wheel angle. According to the actual road condition and the vehicle condition, the application can automatically adjust the angle of the ACC radar, so that the information collection is more accurate when the vehicle is coping with the slope and the turning road surface, and the driving safety is improved. The application does not need to increase more radar hardware, the cost is lower, the power consumption is reduced, and the vehicle cost is saved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle safety technology, and more particularly, to an ACC radar adjusting method and system. BACKGROUND

[0002] ACC, adaptive cruise control. ACC radar, generally a medium distance millimeter wave radar, the radar mainly functions to detect objects in front of the ego vehicle through electromagnetic waves. When the radar is applied to a vehicle, the distance and speed of the vehicle in front can be known through ACC radar ranging, so when it is used in adaptive cruise control, it is also applied to the pre-crash warning function. For example, when the distance between the ego vehicle and the vehicle in front is too close and a collision danger exists, the vehicle can control the emergency braking of the vehicle according to the measured real-time distance to avoid or mitigate the collision danger. Currently, ACC radar is increasingly valued, and its application to the field of vehicle assisted driving is becoming more and more popular. It can be predicted that in the near future, ACC radar may become a standard configuration of vehicles.

[0003] Currently, ACC radar is widely used in assisted driving, but in the actual driving process of a vehicle, due to the existence of uphill and downhill roads and curves, and the ACC radar is usually fixed at the front of the vehicle, its field of view is fixed. For the case where the vehicle is turning or going uphill or downhill, there is distortion in the detection data due to the angle of the vehicle, thereby affecting the driving safety by feeding back incorrect data to the vehicle. SUMMARY

[0004] The present application provides an ACC radar adjusting method and system, which can automatically adjust the angle of the ACC radar according to the actual road conditions, so that the information collection is more accurate when the vehicle is dealing with uphill and turning road surfaces, and the driving safety is improved. Without the need to increase more radar hardware, the cost is lower, the power consumption is also reduced, and the vehicle cost is saved.

[0005] According to a first aspect of the present application, an ACC radar adjusting method is provided, comprising:

[0006] detecting the pitch angle, speed, energy consumption and steering wheel angle of the ego vehicle;

[0007] evaluating whether the vehicle is located on a slope road section according to the pitch angle, speed and energy consumption of the ego vehicle, and adjusting the pitch angle of the ACC radar according to the pitch angle of the ego vehicle if the vehicle is located on a slope road section;

[0008] adjusting the azimuth angle of the ACC radar according to the high-precision map information and the steering wheel angle.

[0009] On the basis of the above technical solution, the present application can also be improved as follows.

[0010] Optionally, the step of detecting the pitch angle of the ego vehicle comprises:

[0011] Obtaining the vehicle head height data and the vehicle tail height data, and obtaining the self-vehicle pitch angle by subtracting the vehicle head height data from the vehicle tail height data, wherein the vehicle head height data is obtained by a height sensor arranged at the vehicle head, and the vehicle tail height data is obtained by a height sensor arranged at the vehicle tail.

[0012] Optionally, the step of evaluating whether the vehicle is located on the slope road section according to the self-vehicle pitch angle, the vehicle speed and the energy consumption comprises:

[0013] Judging the vehicle head orientation as upward or downward according to the current self-vehicle pitch angle;

[0014] Evaluating whether the vehicle is currently located on the slope road section in combination with the vehicle head orientation, the vehicle speed and the energy consumption, and judging the current slope type as uphill or downhill.

[0015] Optionally, the step of evaluating whether the vehicle is currently located on the slope road section in combination with the vehicle head orientation, the vehicle speed and the energy consumption, and judging the current slope type as uphill or downhill comprises:

[0016] Assuming that the ideal energy consumption A of the vehicle in the flat ground driving state is calculated by the following formula:

[0017]

[0018] Wherein, A is the ideal energy consumption of the vehicle in the flat ground driving state, m is the total mass of the vehicle and its load, and v is the current vehicle speed.

[0019] Obtaining the real-time energy consumption B of the vehicle, and presetting a difference range C, wherein the difference range C is set considering the resistance suffered by the vehicle.

[0020] Subtracting the real-time energy consumption B from the ideal energy consumption A to obtain an energy difference value, and comparing the energy difference value with the preset difference range C:

[0021] If the energy difference value is smaller than the minimum value of the difference range C and the vehicle head orientation is upward, it is determined that the vehicle is currently in the uphill state.

[0022] If the energy difference value is within the difference range C, it is determined that the vehicle is currently in the flat ground driving state.

[0023] If the energy difference value is greater than the maximum value of the difference range C and the vehicle head orientation is downward, it is determined that the vehicle is currently in the downhill state.

[0024] Optionally, the step of adjusting the ACC radar pitch angle according to the self-vehicle pitch angle if the vehicle is located on the slope road section comprises:

[0025] Calibrating the matching relationship between the self-vehicle pitch angle and the ACC radar pitch angle, wherein the matching relationship at least includes the size and direction of the pitch angle.

[0026] If it is determined that the vehicle is currently in a hill driving state, the ACC radar pitch angle is adjusted according to the pitch angle matching relationship according to the hill type and the size and direction of the pitch angle of the vehicle.

[0027] Optionally, when the ACC radar pitch angle is adjusted, the stop condition is that a front vehicle is detected, or the road surface is detected to be within a range below the middle line of the vertical field angle of the ACC radar, specifically including:

[0028] If the hill type is an uphill, the road surface is detected to be within a range below the middle line of the vertical field angle of the ACC radar, or the maximum adjustment range of the ACC radar is reached, the ACC radar pitch angle is stopped adjusting;

[0029] If the hill type is a downhill, the distance between the front vehicle and the vehicle is detected, or the maximum adjustment range of the ACC radar is reached, the ACC radar pitch angle is stopped adjusting.

[0030] Optionally, the azimuth angle of the ACC radar is adjusted according to the high-precision map information and the steering wheel angle, including:

[0031] The azimuth angle matching relationship between the steering wheel angle of the vehicle and the azimuth angle of the ACC radar is calibrated, and the azimuth angle matching relationship includes at least the size and direction of the azimuth angle;

[0032] The road information in the high-precision map is read, and if it is determined that the current road is a curve, the azimuth angle of the ACC radar is synchronously adjusted according to the azimuth angle matching relationship in combination with the curvature of the curve and the real-time steering wheel angle of the vehicle.

[0033] Optionally, the ACC radar is movably connected to the vehicle through a pitch motor and an azimuth motor, the pitch motor is used for adjusting the pitch angle of the ACC radar, and the azimuth motor is used for adjusting the azimuth angle of the ACC radar.

[0034] Optionally, the method further includes:

[0035] The ACC radar adjustment data is recorded each time, and the ACC radar adjustment data is associated with the corresponding adjustment location on the high-precision map, and the obtained new navigation map is used for vehicle navigation.

[0036] When the vehicle is driving, the ACC radar is preferentially adjusted according to the ACC radar adjustment data associated with the new navigation map based on the self-learning model.

[0037] According to a second aspect of the present application, an ACC radar adjustment system is provided, including:

[0038] A detection module is configured to detect the pitch angle of the vehicle, the vehicle speed, the energy consumption, and the steering wheel angle.

[0039] A pitch adjustment module is configured to determine whether the vehicle is on a slope road section according to the pitch angle of the vehicle, the speed of the vehicle and the energy consumption, and if the vehicle is on the slope road section, the pitch adjustment module is further configured to adjust the pitch angle of the ACC radar according to the pitch angle of the vehicle.

[0040] An azimuth adjustment module is configured to adjust the azimuth angle of the ACC radar according to the high-precision map information and the steering wheel angle.

[0041] According to a third aspect of the present application, an electronic device is provided, comprising a memory and a processor, wherein the processor is configured to execute a computer management program stored in the memory to implement the steps of the ACC radar adjustment method.

[0042] According to a fourth aspect of the present application, a computer readable storage medium is provided, wherein a computer management program is stored on the computer readable storage medium, and the computer management program is executed by a processor to implement the steps of the ACC radar adjustment method.

[0043] The ACC radar adjustment method, system, electronic device and storage medium provided by the present application mainly aim at the case that the ACC radar is fixedly installed on the vehicle head in the prior art, and the radar angle is fixed to cause the fixed field of view. When the vehicle is on a slope road section, the radar field of view cannot detect the front vehicle due to the angle of the vehicle body when the vehicle is close to the top or bottom of the slope. Or when the vehicle is on a curved road section, the radar field of view is not consistent with the direction of the vehicle due to the orientation of the vehicle head, so that the front vehicle cannot be scanned. In the present application, the ACC radar is movably connected with the vehicle head and the angle of the radar is adjustable. The azimuth angle of the radar is adjusted according to the steering wheel angle and the high-precision map information for navigation, so as to solve the problem that the scanning data of the radar is inaccurate in the curved road. The pitch angle of the radar is adjusted according to the pitch angle of the vehicle, the speed of the vehicle and the energy consumption, so as to solve the problem that the scanning data of the radar is inaccurate in the slope driving process. According to the actual road conditions and the condition of the vehicle, the angle of the ACC radar can be automatically adjusted in the present application, so that the information collection is more accurate when the vehicle is on the slope and the turning road, and the driving safety is improved. The present application does not need to increase more radar hardware, and the cost is lower. The power consumption is also reduced, and the cost of the vehicle is saved. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 A schematic view of the height range of the field of view of the vehicle front radar in the prior art when the vehicle is on a slope road section;

[0045] Figure 2 A schematic view of the width range of the field of view of the vehicle front radar in the prior art when the vehicle is on a curved road section;

[0046] Figure 3 A flowchart of the ACC radar adjustment method provided by the present application;

[0047] Figure 4A composition block diagram of an ACC radar adjustment system provided by the present application;

[0048] Figure 5 A possible hardware structure schematic diagram of an electronic device provided by the present application;

[0049] Figure 6 A possible hardware structure schematic diagram of a computer readable storage medium provided by the present application. DETAILED DESCRIPTION

[0050] The specific embodiments of the present application are described in further detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application, but are not used to limit the scope of the present application.

[0051] As Figure 1 shown is a schematic diagram of the field of view of a front radar of a vehicle currently commonly used when the vehicle travels on a slope road section. As Figure 2 shown is a schematic diagram of the field of view of a front radar of a vehicle currently commonly used when the vehicle travels on a curve road section. Figure 1 and Figure 2 In the driving scene of

[0052] As Figure 1 shown, the vehicle travels on a slope road section, which is described in detail in Figure 1 from left to right. Figure 1 The first vehicle from left is in an uphill driving state, and is about to reach the top of the slope, at which time the front vehicle has already passed the top of the slope. The top of the slope presents a convex arc between the first vehicle and the front vehicle. Since the field of view of the first vehicle is fixed, the field of view of the first vehicle is biased high, and the front vehicle cannot be scanned. However, in fact, the distance between the first vehicle and the front vehicle is not far, and the front vehicle is within the sensing distance of the first vehicle. Looking at Figure 1 the second vehicle from left, which is in a downhill driving state, and is about to reach the bottom of the slope, at which time the front vehicle (i.e., the third vehicle from left) has already passed the bottom of the slope. At this time, the bottom of the slope presents a concave arc between the second vehicle and the front vehicle. Since the field of view of the second vehicle is fixed, the field of view of the second vehicle is biased low, and the front vehicle cannot be scanned. However, in fact, the distance between the second vehicle and the front vehicle is not far, and the front vehicle is within the sensing distance of the second vehicle. If in these two cases, the ACC system considers that there is no vehicle in front of the ego vehicle, and controls the ego vehicle to accelerate, which may cause a safety hazard.

[0053] As Figure 2 shown, the vehicle travels on a curve road section, and the left vehicle in Figure 2 is taken as the ego vehicle for example. Figure 2When the host vehicle enters a curve, the field of view of the front radar does not cover the position of the front vehicle due to the large curvature of the road, but the front vehicle is actually close to the host vehicle, or the front vehicle scanned by the front radar may be a vehicle driving in the adjacent lane. These situations may cause the ACC system to misjudge and affect the experience of assisted driving. Even if the front vehicle driving in the lane cannot be scanned, the speed of the host vehicle may not be reduced in time, causing a safety accident.

[0054] In view of the problems of the ACC radar in the above various road conditions, Figure 3 The flowchart of an ACC radar adjustment method provided by the embodiment is shown in the figure. In this embodiment, the ACC radar is movably installed on the vehicle head through the pitch adjustment mechanism and the azimuth adjustment mechanism, and the pitch angle and the azimuth angle can be flexibly adjusted through the control signal sent by the vehicle control system, so as to adjust the coverage range of the field of view of the radar.

[0055] As shown in the figure, the ACC radar adjustment method provided by the embodiment includes: Figure 3

[0056] detecting the pitch angle of the host vehicle, the speed of the host vehicle, the energy consumption of the host vehicle and the steering wheel angle;

[0057] According to the pitch angle of the host vehicle, the speed of the host vehicle and the energy consumption of the host vehicle, it is determined whether the vehicle is located on a slope road section. If the vehicle is located on a slope road section, the pitch angle of the ACC radar is adjusted according to the pitch angle of the host vehicle.

[0058] The azimuth angle of the ACC radar is adjusted according to the high-precision map information and the steering wheel angle.

[0059] It can be understood that, based on the defects in the background art, the ACC radar adjustment method provided by the embodiment is mainly aimed at the case that the ACC radar is fixedly installed on the vehicle head in the prior art. The fixed radar angle leads to a fixed field of view. When the vehicle drives on a slope road section, the radar field of view cannot detect the front vehicle due to the angle of the vehicle body when the vehicle is close to the top or bottom of the slope. Or when the vehicle drives on a curved road section, the radar field of view is not in the same direction as the driving direction of the vehicle, which leads to the fact that the front vehicle cannot be scanned or the front vehicle in other lanes is scanned, so that the detection of the front vehicle is not accurate. In the present application, the ACC radar is movably connected with the vehicle head and the angle is adjustable. The azimuth angle of the radar is adjusted according to the steering wheel angle and the high-precision map information for navigation, so as to solve the problem of inaccurate radar scanning data in the curve. The pitch angle of the radar is adjusted according to the pitch angle of the host vehicle, the speed of the host vehicle and the energy consumption, so as to solve the problem of inaccurate radar scanning data during slope driving. According to the actual road conditions and the condition of the host vehicle, the angle of the ACC radar can be automatically adjusted in the present application, so that the information collection is more accurate when the vehicle drives on the slope and the turning road, and the driving safety is improved. Without increasing more radar hardware, the cost is lower, the power consumption is also reduced, and the cost of the vehicle is saved.​

[0060] In a possible implementation mode, the step of detecting the pitch angle of the ego vehicle comprises:

[0061] obtaining the height data of the front end and the height data of the rear end, and obtaining the pitch angle of the ego vehicle by subtracting the height data of the front end from the height data of the rear end, wherein the height data of the front end is obtained by the height sensor arranged at the front end, and the height data of the rear end is obtained by the height sensor arranged at the rear end.

[0062] It can be understood that the inclination direction of the ego vehicle and the pitch angle of the vehicle can be obtained by the difference between the height data of the front end and the height data of the rear end.

[0063] In a possible implementation mode, the step of evaluating whether the vehicle is located on the slope road section according to the pitch angle of the ego vehicle, the vehicle speed and the energy consumption comprises:

[0064] determining the direction of the front end as upward or downward according to the current pitch angle of the ego vehicle;

[0065] combining the direction of the front end, the vehicle speed and the energy consumption to evaluate whether the vehicle is currently located on the slope road section, and determining the current slope type as uphill or downhill.

[0066] It can be understood that, for the judgment of whether the current driving road is a slope road section, in addition to combining the real-time direction of the front end, the parameters of the current driving state of the ego vehicle, such as the vehicle speed and the energy consumption, should be comprehensively judged to improve the accuracy of the judgment. If the judgment is only based on the pitch angle of the ego vehicle, it is assumed that the pitch angle of the vehicle changes rapidly when the vehicle drives on a bumpy road section or a short slope road section. In this case, if the ACC radar angle is frequently adjusted according to the pitch angle of the ego vehicle, it is a waste of system computing power, and it may cause inaccurate information collection.

[0067] In a possible implementation mode, it is assumed that the interference factors of the road surface, such as obstacles, uneven road surfaces, turning lanes, etc., are ignored, and it is considered that the driving road surface is an ideal flat road surface. Then, the step of combining the direction of the front end, the vehicle speed and the energy consumption to evaluate whether the vehicle is currently located on the slope road section, and determining the current slope type as uphill or downhill comprises:

[0068] It is assumed that the ideal energy consumption A of the vehicle in the flat driving state is calculated by the following formula:

[0069]

[0070] wherein A is the energy consumption of the vehicle in the ideal state of flat driving, m is the total mass of the vehicle and its load, i.e. the real-time total mass of the vehicle, which can be measured by a weight sensor, and v is the current vehicle speed.

[0071] obtaining a real-time energy consumption B of the vehicle, and presetting a difference range C, wherein the difference range C is set according to experience and considers the resistance of the vehicle, such as air resistance and friction between the vehicle and the ground; it should be noted that the difference range C should cover the energy difference range between the real-time energy consumption B and the ideal energy consumption A when the vehicle is running on a flat ground according to experience;

[0072] subtracting the real-time energy consumption B from the ideal energy consumption A to obtain an energy difference, and comparing the energy difference with the preset difference range C:

[0073] if the energy difference is less than the minimum value of the difference range C and the vehicle head orientation is upward, determining that the vehicle is currently in an uphill state;

[0074] if the energy difference is within the difference range C, determining that the vehicle is currently in a flat ground running state;

[0075] if the energy difference is greater than the maximum value of the difference range C and the vehicle head orientation is downward, determining that the vehicle is currently in a downhill state.

[0076] It can be understood that, since the energy consumption of the vehicle in the state of running on a slope includes kinetic energy and gravitational potential energy, the energy consumption of the vehicle in the uphill state is greater than that in the flat ground running state, and the energy consumption of the vehicle in the downhill state is less than that in the flat ground running state. Generally, when running uphill, the change rule of the vehicle speed is uniform speed or tends to decrease, and for the state of decelerating uphill running, the energy consumption of the vehicle is less than that in the uniform speed running state, but is always greater than that in the flat ground running state. Conversely, the energy consumption of the vehicle in the downhill state is less than that in the flat ground running state. According to this principle, in combination with the change of the vehicle speed, the change of the energy consumption and the orientation of the vehicle head, the current state of the vehicle, i.e. the flat ground running state, the uphill running state or the downhill running state, can be accurately determined.

[0077] In a possible embodiment, if the vehicle is located on a slope, the ACC radar inclination angle is adjusted according to the inclination angle of the vehicle, comprising:

[0078] calibrating the inclination angle matching relationship between the inclination angle of the vehicle and the inclination angle of the ACC radar, wherein the inclination angle matching relationship at least includes the size and direction of the inclination angle;

[0079] if it is determined that the vehicle is currently in a slope running state, the inclination angle of the ACC radar is adjusted according to the slope type and the size and direction of the inclination angle of the vehicle according to the inclination angle matching relationship.

[0080] It can be understood that the calibration process of the ACC radar pitch angle can refer to the following examples. According to experience, the maximum pitch angle range of the ego vehicle in the uphill driving state is obtained, and the pitch angle range of the ego vehicle is divided into n segments. The maximum adjustment range of the ACC radar pitch angle is obtained according to the installation structure parameters of the ACC radar, and the maximum adjustment range of the ACC radar pitch angle is divided into n segments. The value of n is determined according to the adjustment accuracy of the ACC radar pitch angle. It should be noted that the value of n should be no less than 3, so that the adjustment of the pitch angle at least includes three gears: up, flat, and down. The flat gear indicates that the ACC radar scans the front vehicle information in a field of view parallel to the vehicle body, which is expected to be used for vehicle driving on flat ground. The up gear indicates that the field of view of the ACC radar is adjusted upward, which is expected to be used for vehicle driving on a downhill section, especially a section close to the slope bottom. The down gear indicates that the field of view of the ACC radar is adjusted downward, which is expected to be used for vehicle driving on an uphill section, especially a section close to the slope top. According to the adjustment accuracy of the field of view of the ACC radar, the adjustment gears can be further subdivided, for example, the up gear is subdivided into up gear one and up gear two according to the pitch angle of the ego vehicle. Similarly, the up adjustment range of the ACC radar pitch angle is subdivided into two ranges. The further subdivision of the down gear is similar and will not be repeated. The pitch angle of the ego vehicle is matched with each adjustment gear of the ACC radar pitch angle and calibrated in advance, and the fixed matching relationship between them is saved. During vehicle driving, according to the pitch angle matching relationship, when the road type of the vehicle driving is determined, the gear of the ACC radar pitch angle to be adjusted is determined according to the pitch angle of the ego vehicle, and the ACC radar is automatically adjusted, which improves the accuracy of the ACC radar in scanning the slope information and improves the safety of the vehicle auxiliary driving function.

[0081] In a possible embodiment, when the ACC radar pitch angle is adjusted, the stop condition is that a front vehicle is detected, or the road surface is detected to be located in a range below the middle line of the vertical field of view angle of the ACC radar, specifically including:

[0082] If the slope type is uphill, the road surface is detected to be located in a range below the middle line of the vertical field of view angle of the ACC radar, or the maximum adjustment range of the ACC radar is reached, the adjustment of the ACC radar pitch angle is stopped.

[0083] If the slope type is downhill, the distance between the front vehicle and the ego vehicle is detected, or the maximum adjustment range of the ACC radar is reached, the adjustment of the ACC radar pitch angle is stopped.

[0084] It can be understood that when the vehicle drives to the top of the slope, the radar view field is high, for example, towards the sky, and the front vehicle position is below the radar view field, so the radar pitch angle is adjusted downward. In the case that there is a front vehicle within the sensing distance, when the front vehicle information is detected, the adjustment of the radar pitch angle is stopped; in the case that there is no front vehicle within the sensing distance, when the road surface is detected within the lower half of the radar view field, the adjustment of the radar pitch angle is stopped to prevent excessive adjustment of the pitch angle, which would otherwise affect the accuracy of the scanning information.

[0085] When the vehicle drives to the bottom of the slope, the radar view field is low, and the front vehicle position is above the radar view field, so the radar pitch angle needs to be adjusted upward. In the case that there is a front vehicle within the sensing distance, when the front vehicle information is detected, the adjustment of the radar pitch angle is stopped; in the case that there is no front vehicle within the sensing distance, due to the characteristics of the concave road surface at the bottom of the slope, the road surface may always remain within the radar view field, in which case the detection of the ACC radar reaching the limit position of the upward adjustment stops the adjustment of the radar pitch angle. When it is detected that the vehicle enters a flat road driving state, the adjustment of the pitch angle of the ACC radar is reset, so that it can scan the obstacle information of the flat road surface in front of the vehicle.

[0086] In a possible embodiment, the adjustment of the azimuth angle of the ACC radar according to the high-precision map information and the steering wheel angle includes:

[0087] Calibrating the matching relationship between the steering wheel angle of the vehicle and the azimuth angle of the ACC radar, the matching relationship including at least the size and direction of the azimuth angle;

[0088] Reading the road information in the high-precision map, if it is determined that the current road is a curve, the curvature of the curve and the real-time steering wheel angle of the vehicle are combined to adjust the azimuth angle of the ACC radar synchronously according to the matching relationship.

[0089] It can be understood that the step of calibrating the matching relationship between the steering wheel angle of the vehicle and the azimuth angle of the ACC radar can refer to the aforementioned step of calibrating the pitch angle of the ACC radar. Here, only a brief description of the calibration process is given. The maximum adjustment range of the steering wheel angle of the vehicle is obtained, the maximum adjustment range of the azimuth angle of the ACC radar is obtained according to the installation structure parameters of the ACC radar, the maximum adjustment range of the steering wheel angle and the maximum adjustment range of the azimuth angle of the ACC radar are each divided into m segments, the value of m is determined according to the adjustment accuracy of the azimuth angle of the ACC radar, and the angle range of each segment needs to be determined according to multiple experiments, so the angle range of each segment can be different. Each segment of the steering wheel angle is associated with the azimuth angle of the ACC radar, so that when the steering wheel angle is adjusted, the azimuth angle of the ACC radar is synchronously adjusted.

[0090] In the process of vehicle driving, whether the current road is a curved road is judged according to the high-precision map for navigation, if it is a curved road, the azimuth angle of the ACC radar is adjusted synchronously when the steering wheel is controlled to steer the vehicle, so that the field of view of the ACC radar always covers the lane where the vehicle is located, so as to realize the detection of the front vehicle information in the lane.

[0091] In a possible embodiment, the ACC radar is movably connected to the vehicle through a pitch motor and an azimuth motor, the pitch motor is used for adjusting the pitch angle of the ACC radar, and the azimuth motor is used for adjusting the azimuth angle of the ACC radar.

[0092] For example, the fixed end of the pitch motor is installed on the vehicle head, the fixed end of the azimuth motor is fixedly connected to the movable end of the pitch motor, and the ACC radar is installed on the movable end of the azimuth motor. When the pitch motor operates, the azimuth motor and the ACC radar are driven to perform the pitch movement, so as to adjust the pitch angle of the ACC radar; when the azimuth motor operates, the ACC radar is driven to perform the azimuth movement, so as to adjust the azimuth angle of the ACC radar. Similarly, the ACC radar can also be arranged on the pitch motor, the pitch motor is arranged on the azimuth motor, and the azimuth motor is installed on the vehicle head, so as to realize the direction adjustment of the field of view of the ACC radar.

[0093] In a possible embodiment, the method further comprises:

[0094] The ACC radar adjustment data is recorded each time, and the ACC radar adjustment data is associated with the corresponding adjustment location on the high-precision map, and the obtained new navigation map is used for vehicle navigation;

[0095] The self-learning model is trained by using the new navigation map updated each time;

[0096] When the vehicle is driving, the ACC radar is adjusted based on the self-learning model and the ACC radar adjustment data associated with the new navigation map.

[0097] It can be understood that the ACC radar is turned on in the process of deep intervention of auxiliary driving, so the radar angle needs to be adjusted faster, and the parameters associated with the vehicle speed also need to be calibrated, and the ACC radar motor is adjusted at the preset adjustment speed when the vehicle speed reaches the related value. Due to the self-learning function of the vehicle, when the vehicle passes the sloping road surface for the first time, the map data at that time and the height data of the vehicle body (the pitch angle of the vehicle) are recorded, and when the subsequent navigation is selected to pass the road surface again, the adjustment can be made in advance, the system computing power is saved, and the adjustment efficiency and accuracy are improved.

[0098] Figure 4 An ACC radar adjustment system structure diagram provided for the embodiment of the application is as follows, Figure 4As shown, an ACC radar control system includes a detection module, a pitch control module, and an azimuth control module, wherein:

[0099] The detection module is used to detect the vehicle's pitch angle, speed, energy consumption, and steering wheel angle.

[0100] The pitch adjustment module is used to assess whether the vehicle is on a slope based on its own pitch angle, vehicle speed and energy consumption. If it is on a slope, it is also used to adjust the ACC radar pitch angle based on the vehicle's pitch angle.

[0101] The azimuth adjustment module is used to adjust the azimuth angle of the ACC radar based on high-precision map information and steering wheel angle.

[0102] It is understood that the ACC radar adjustment system provided by the present invention corresponds to the ACC radar adjustment method provided in the foregoing embodiments. The relevant technical features of the ACC radar adjustment system can be referred to the relevant technical features of the ACC radar adjustment method, and will not be repeated here.

[0103] Please see Figure 5 , Figure 5 This is a schematic diagram illustrating an embodiment of the electronic device provided in this invention. For example... Figure 5 As shown, this embodiment of the invention provides an electronic device 500, including a memory 510, a processor 520, and a computer program 511 stored in the memory 510 and executable on the processor 520. When the processor 520 executes the computer program 511, it performs the following steps:

[0104] Detects vehicle pitch angle, speed, energy consumption, and steering wheel angle;

[0105] The vehicle is assessed based on its pitch angle, speed, and energy consumption to determine if it is on a slope. If it is, the ACC radar pitch angle is adjusted according to the vehicle's pitch angle.

[0106] The ACC radar's azimuth angle is adjusted based on high-precision map information and steering wheel angle.

[0107] Please see Figure 6 , Figure 6 This is a schematic diagram illustrating an embodiment of a computer-readable storage medium provided by the present invention. (See diagram below.) Figure 6 As shown, this embodiment provides a computer-readable storage medium 600, on which a computer program 611 is stored. When the computer program 611 is executed by a processor, it performs the following steps:

[0108] Detects vehicle pitch angle, speed, energy consumption, and steering wheel angle;

[0109] The vehicle is assessed based on its pitch angle, speed, and energy consumption to determine if it is on a slope. If it is, the ACC radar pitch angle is adjusted according to the vehicle's pitch angle.

[0110] The ACC radar's azimuth angle is adjusted based on high-precision map information and steering wheel angle.

[0111] This invention provides an ACC radar adjustment method, system, and storage medium, primarily addressing the issue of existing ACC radars being fixedly mounted at the front of the vehicle. This fixed radar angle results in a fixed field of view, leading to problems when the vehicle is traveling on an incline, near the top or bottom, as the vehicle's angle prevents the radar from detecting the vehicle ahead. Similarly, when traveling on a curve, the vehicle's orientation causes the radar's field of view to be inconsistent with the vehicle's direction of travel, resulting in the inability to scan the vehicle ahead. In this invention, the ACC radar is movably connected to the front of the vehicle and its angle is adjustable. The radar azimuth angle is adjusted based on the steering wheel angle and high-precision map information used for navigation to address the problem of inaccurate radar scanning data on curves. The radar pitch angle is adjusted based on the vehicle's pitch angle, speed, and energy consumption to address the problem of inaccurate radar scanning data while driving on inclines. This invention automatically adjusts the ACC radar angle according to actual road conditions and the vehicle's status, resulting in more accurate information collection when the vehicle is navigating inclines and curves, improving driving safety. It also eliminates the need for additional radar hardware, reducing costs and power consumption, thus saving on vehicle costs.

[0112] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0113] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0114] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0115] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0116] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0117] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0118] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. An ACC radar adjustment method, characterized in that, include: Detects vehicle pitch angle, speed, energy consumption, and steering wheel angle; Assess whether the vehicle is on a slope based on its pitch angle, speed, and energy consumption, including: Based on the current vehicle pitch angle, determine whether the vehicle is facing upwards or downwards; Based on the vehicle's orientation, speed, and energy consumption, assess whether the vehicle is currently on a slope and determine whether the slope is uphill or downhill; specifically including: To obtain the ideal energy consumption of a vehicle when driving on flat ground; If the real-time vehicle speed changes at a constant speed or tends to decrease, the real-time vehicle energy consumption is always greater than the energy consumption of driving on flat ground, and the vehicle is facing upwards, then the vehicle is determined to be currently in an uphill state. If the real-time vehicle speed changes at a constant speed or tends to accelerate, the real-time vehicle energy consumption is always less than the energy consumption of driving on flat ground, and the vehicle is facing downhill, then the vehicle is determined to be currently in a downhill state. If you are on a slope, adjust the ACC radar pitch angle according to the vehicle's pitch angle. The ACC radar's azimuth angle is adjusted based on high-precision map information and steering wheel angle.

2. The ACC radar adjustment method according to claim 1, characterized in that, The steps for detecting the vehicle's pitch angle include: The vehicle's front and rear height data are acquired, and the difference between the front and rear height data is calculated to obtain the vehicle's pitch angle. The front height data is acquired through a height sensor located at the front of the vehicle, and the rear height data is acquired through a height sensor located at the rear of the vehicle.

3. The ACC radar adjustment method according to claim 1, characterized in that, The assessment of whether the vehicle is currently on a slope, and the determination of whether the current slope is uphill or downhill, based on the vehicle's orientation, speed, and energy consumption, includes: Assuming the vehicle is traveling on flat ground, its ideal energy consumption A is calculated using the following formula: ， Where A is the energy consumption of the vehicle under ideal conditions when driving on flat ground, m is the total mass of the vehicle and its load, and v is the current vehicle speed; Obtain the vehicle's real-time energy consumption B, and preset the difference range C, where the difference range C takes into account the resistance experienced by the vehicle. The energy difference obtained by subtracting the real-time energy consumption B from the ideal energy consumption A is compared with the preset difference range C: If the energy difference is greater than the maximum value of the difference range C and the vehicle is facing upwards, then the vehicle is determined to be currently in an uphill state. If the energy difference is within the difference range C, then the vehicle is determined to be currently driving on flat ground. If the energy difference is less than the minimum value of the difference range C and the vehicle is facing downwards, then the vehicle is determined to be in a downhill state.

4. The ACC radar adjustment method according to claim 3, characterized in that, If the location is on a slope, the ACC radar pitch angle is adjusted according to the vehicle's pitch angle, including: The pitch angle matching relationship between the vehicle and the ACC radar is calibrated, and the pitch angle matching relationship includes at least the magnitude and direction of the pitch angle; If it is determined that the vehicle is currently driving on a slope, the ACC radar pitch angle is adjusted according to the slope type and the size and direction of the vehicle's pitch angle, in accordance with the pitch angle matching relationship.

5. The ACC radar adjustment method according to claim 1, characterized in that, When adjusting the ACC radar pitch angle, the adjustment is stopped when: a vehicle ahead is detected, or the road surface is detected to be below the centerline of the ACC radar's vertical field of view, specifically including: If the slope type is uphill, and the road surface is detected to be below the center line of the ACC radar's vertical field of view, or has reached the maximum adjustment range of the ACC radar, then stop adjusting the ACC radar's pitch angle. If the slope type is downhill, and the distance between the vehicle in front and the vehicle is detected, or the maximum adjustment range of the ACC radar is reached, then the adjustment of the ACC radar pitch angle will stop.

6. An ACC radar adjustment method according to any one of claims 1 to 5, characterized in that, The adjustment of the ACC radar's azimuth angle based on high-precision map information and steering wheel angle includes: The matching relationship between the vehicle steering wheel angle and the azimuth angle of the ACC radar is calibrated, and the azimuth angle matching relationship includes at least the magnitude and direction of the azimuth angle; Read road information from a high-precision map. If the current road is determined to be a curve, combine the curve curvature and the vehicle's real-time steering wheel angle, and synchronously adjust the azimuth angle of the ACC radar according to the aforementioned azimuth angle matching relationship.

7. The ACC radar adjustment method according to claim 1, characterized in that, The ACC radar is connected to the vehicle via a pitch motor and an azimuth motor. The pitch motor is used to adjust the pitch angle of the ACC radar, and the azimuth motor is used to adjust the azimuth angle of the ACC radar.

8. The ACC radar adjustment method according to claim 1, characterized in that, Also includes: Record the ACC radar adjustment data each time, and associate the ACC radar adjustment data with the corresponding adjustment location on the high-precision map. Use the resulting new navigation map for vehicle navigation. When the vehicle is in motion, the ACC radar is adjusted based on the self-learning model and the ACC radar adjustment data associated with the new navigation map.

9. An ACC radar control system, characterized in that, include: The detection module is used to detect the vehicle's pitch angle, speed, energy consumption, and steering wheel angle. The pitch adjustment module is used to assess whether the vehicle is on a slope based on its pitch angle, speed, and energy consumption, including: Based on the current vehicle pitch angle, determine whether the vehicle is facing upwards or downwards; Based on the vehicle's orientation, speed, and energy consumption, assess whether the vehicle is currently on a slope and determine whether the slope is uphill or downhill; specifically including: To obtain the ideal energy consumption of a vehicle when driving on flat ground; If the real-time vehicle speed changes at a constant speed or tends to decrease, the real-time vehicle energy consumption is always greater than the energy consumption of driving on flat ground, and the vehicle is facing upwards, then the vehicle is determined to be currently in an uphill state. If the real-time vehicle speed changes at a constant speed or tends to accelerate, the real-time vehicle energy consumption is always less than the energy consumption of driving on flat ground, and the vehicle is facing downhill, then the vehicle is determined to be currently in a downhill state. If located on a slope, it is also used to adjust the ACC radar pitch angle according to the vehicle's pitch angle; The azimuth adjustment module is used to adjust the azimuth angle of the ACC radar based on high-precision map information and steering wheel angle.

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